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ROSBuzz_MISTLab
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This commit is contained in:
isvogor 2017-02-23 10:57:05 -05:00
parent aafa037c22
commit e855c8c78a
3 changed files with 51 additions and 6 deletions
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1
CMakeLists.txt
View File

@ -15,7 +15,6 @@ find_package(catkin REQUIRED COMPONENTS
)
##############################
#Generate messages#
##############################
add_message_files(

47
launch/rosbuzz-testing-sitl.launch Normal file
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@ -0,0 +1,47 @@
<launch>
<!-- RUN mavros -->
<arg name="fcu_url" default="tcp://127.0.0.1:5760" />
<arg name="gcs_url" default="" />
<arg name="tgt_system" default="1" />
<arg name="tgt_component" default="1" />
<arg name="log_output" default="screen" />
<include file="$(find mavros)/launch/node.launch">
<arg name="pluginlists_yaml" value="$(find mavros)/launch/apm_pluginlists.yaml" />
<arg name="config_yaml" value="$(find mavros)/launch/apm_config.yaml" />
<arg name="fcu_url" value="$(arg fcu_url)" />
<arg name="gcs_url" value="$(arg gcs_url)" />
<arg name="tgt_system" value="$(arg tgt_system)" />
<arg name="tgt_component" value="$(arg tgt_component)" />
<arg name="log_output" value="$(arg log_output)" />
</include>
<!-- run xbee -->
<node pkg="xbee_ros_node" type="xbee_mav" name="xbee_mav" args="slave swarm" output="screen" />
<param name="Xbee_In_From_Buzz" type="str" value="outMavlink" />
<param name="Xbee_Out_To_Buzz" type="str" value="inMavlink" />
<param name="Xbee_In_From_Controller" type="str" value="xbee_cmd" />
<param name="No_of_dev" type="int" value="3" />
<!-- run rosbuzz -->
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="robot_id" value="3"/>
<param name="No_of_Robots" value="3"/>
<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
</node>
<node pkg="rosloader" type="rosloader" name="rosloader" output="screen"/>
<!-- set streaming rate
/mavros/cmd/arming
<node pkg="rosservice" type="rosservice" name="stream_rate" args="call /mavros/set_stream_rate 0 10 1" />
-->
</launch>

9
launch/rosbuzz.launch
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@ -2,15 +2,14 @@
<launch>
<node name="rosbuzz_node" pkg="rosbuzz" type="rosbuzz_node" respawn="false" output="screen" >
<rosparam file="$(env ROS_WS)/src/ROSBuzz/launch/launch_config/$(env ROBOT).yaml"/>
<param name="bzzfile_name" value="$(env ROS_WS)/src/ROSBuzz/src/testalone.bzz" />
<rosparam file="/home/ivan/catkin_ws/src/rosbuzz/launch/launch_config/solo.yaml"/>
<param name="bzzfile_name" value="/home/ivan/catkin_ws/src/rosbuzz/src/testalone.bzz" />
<param name="rcclient" value="true" />
<param name="rcservice_name" value="/buzzcmd" />
<param name="in_payload" value="/inMavlink"/>
<param name="out_payload" value="/outMavlink"/>
<param name="robot_id" value="3"/>
<param name="No_of_Robots" value="3"/>
<param name="stand_by" value="$(env ROS_WS)/src/ROSBuzz/src/stand_by.bo"/>
</node>
<param name="stand_by" value="/home/ivan/catkin_ws/src/rosbuzz/src/stand_by.bo"/>
</node>
</launch>